<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.13"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>Global Body Planner: include/global_body_planner/rviz_interface.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">Global Body Planner
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.13 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
</script>
<div id="main-nav"></div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li><li class="navelem"><a class="el" href="dir_94ddb28d1a8f6d812dff56d903a1ce15.html">global_body_planner</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">rviz_interface.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef RVIZ_INTERFACE_H</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define RVIZ_INTERFACE_H</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &lt;ros/ros.h&gt;</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;global_body_planner/BodyPlan.h&gt;</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno"><a class="line" href="classRVizInterface.html">   12</a></span>&#160;<span class="keyword">class </span><a class="code" href="classRVizInterface.html">RVizInterface</a> {</div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <a class="code" href="classRVizInterface.html#aa28dae09fa5285f8570181ca119717d2">RVizInterface</a>(ros::NodeHandle nh);</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classRVizInterface.html#a8cd5c2922136f4f8ce79738ad6ef4b70">spin</a>();</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classRVizInterface.html#a884a7808159a0bed99ff8776542bc9f1">bodyPlanCallback</a>(<span class="keyword">const</span> global_body_planner::BodyPlan::ConstPtr&amp; msg);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classRVizInterface.html#a321493f33e811559ffec4ed4edb5effd">discreteBodyPlanCallback</a>(<span class="keyword">const</span> global_body_planner::BodyPlan::ConstPtr&amp; msg);</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a57bd96ee0a101e605f32c7fedb92a33f">   40</a></span>&#160;    ros::Subscriber <a class="code" href="classRVizInterface.html#a57bd96ee0a101e605f32c7fedb92a33f">body_plan_sub_</a>;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a089f421ffd1885d3cc0dffc5cd8c5101">   43</a></span>&#160;    ros::Subscriber <a class="code" href="classRVizInterface.html#a089f421ffd1885d3cc0dffc5cd8c5101">discrete_body_plan_sub_</a>;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a2ba6086c6510e38ffdcda7477caac330">   46</a></span>&#160;    ros::Publisher <a class="code" href="classRVizInterface.html#a2ba6086c6510e38ffdcda7477caac330">body_plan_viz_pub_</a>;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a3d72b1323a242092c51c9e6ff08ede68">   49</a></span>&#160;    ros::Publisher <a class="code" href="classRVizInterface.html#a3d72b1323a242092c51c9e6ff08ede68">discrete_body_plan_viz_pub_</a>;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a8617e53fd181aca3ad86f7d83429436a">   52</a></span>&#160;    ros::NodeHandle <a class="code" href="classRVizInterface.html#a8617e53fd181aca3ad86f7d83429436a">nh_</a>;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a985879ba7abfa1e1fc6cd57e56072d9b">   55</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classRVizInterface.html#a985879ba7abfa1e1fc6cd57e56072d9b">update_rate_</a>;</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classRVizInterface.html#a793eebfebed50f8320c95117876b31cf">   58</a></span>&#160;    std::string <a class="code" href="classRVizInterface.html#a793eebfebed50f8320c95117876b31cf">map_frame_</a>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;};</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#endif // RVIZ_INTERFACE_H</span></div><div class="ttc" id="classRVizInterface_html_a8617e53fd181aca3ad86f7d83429436a"><div class="ttname"><a href="classRVizInterface.html#a8617e53fd181aca3ad86f7d83429436a">RVizInterface::nh_</a></div><div class="ttdeci">ros::NodeHandle nh_</div><div class="ttdoc">Nodehandle to pub to and sub from. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:52</div></div>
<div class="ttc" id="classRVizInterface_html_a57bd96ee0a101e605f32c7fedb92a33f"><div class="ttname"><a href="classRVizInterface.html#a57bd96ee0a101e605f32c7fedb92a33f">RVizInterface::body_plan_sub_</a></div><div class="ttdeci">ros::Subscriber body_plan_sub_</div><div class="ttdoc">ROS subscriber for the body plan. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:40</div></div>
<div class="ttc" id="classRVizInterface_html_a884a7808159a0bed99ff8776542bc9f1"><div class="ttname"><a href="classRVizInterface.html#a884a7808159a0bed99ff8776542bc9f1">RVizInterface::bodyPlanCallback</a></div><div class="ttdeci">void bodyPlanCallback(const global_body_planner::BodyPlan::ConstPtr &amp;msg)</div><div class="ttdoc">Callback function to handle new body plan data. </div><div class="ttdef"><b>Definition:</b> rviz_interface.cpp:26</div></div>
<div class="ttc" id="classRVizInterface_html_a3d72b1323a242092c51c9e6ff08ede68"><div class="ttname"><a href="classRVizInterface.html#a3d72b1323a242092c51c9e6ff08ede68">RVizInterface::discrete_body_plan_viz_pub_</a></div><div class="ttdeci">ros::Publisher discrete_body_plan_viz_pub_</div><div class="ttdoc">ROS Publisher for the discrete body plan vizualization. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:49</div></div>
<div class="ttc" id="classRVizInterface_html_a2ba6086c6510e38ffdcda7477caac330"><div class="ttname"><a href="classRVizInterface.html#a2ba6086c6510e38ffdcda7477caac330">RVizInterface::body_plan_viz_pub_</a></div><div class="ttdeci">ros::Publisher body_plan_viz_pub_</div><div class="ttdoc">ROS Publisher for the interpolated body plan vizualization. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:46</div></div>
<div class="ttc" id="classRVizInterface_html"><div class="ttname"><a href="classRVizInterface.html">RVizInterface</a></div><div class="ttdoc">A class for interfacing between RViz and planning topics. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:12</div></div>
<div class="ttc" id="classRVizInterface_html_a089f421ffd1885d3cc0dffc5cd8c5101"><div class="ttname"><a href="classRVizInterface.html#a089f421ffd1885d3cc0dffc5cd8c5101">RVizInterface::discrete_body_plan_sub_</a></div><div class="ttdeci">ros::Subscriber discrete_body_plan_sub_</div><div class="ttdoc">ROS subscriber for the body plan. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:43</div></div>
<div class="ttc" id="classRVizInterface_html_a793eebfebed50f8320c95117876b31cf"><div class="ttname"><a href="classRVizInterface.html#a793eebfebed50f8320c95117876b31cf">RVizInterface::map_frame_</a></div><div class="ttdeci">std::string map_frame_</div><div class="ttdoc">Handle for the map frame. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:58</div></div>
<div class="ttc" id="classRVizInterface_html_a8cd5c2922136f4f8ce79738ad6ef4b70"><div class="ttname"><a href="classRVizInterface.html#a8cd5c2922136f4f8ce79738ad6ef4b70">RVizInterface::spin</a></div><div class="ttdeci">void spin()</div><div class="ttdoc">Calls ros spinOnce and pubs data at set frequency. </div><div class="ttdef"><b>Definition:</b> rviz_interface.cpp:81</div></div>
<div class="ttc" id="classRVizInterface_html_a985879ba7abfa1e1fc6cd57e56072d9b"><div class="ttname"><a href="classRVizInterface.html#a985879ba7abfa1e1fc6cd57e56072d9b">RVizInterface::update_rate_</a></div><div class="ttdeci">double update_rate_</div><div class="ttdoc">Update rate for sending and receiving data, unused since pubs are called in callbacks. </div><div class="ttdef"><b>Definition:</b> rviz_interface.h:55</div></div>
<div class="ttc" id="classRVizInterface_html_aa28dae09fa5285f8570181ca119717d2"><div class="ttname"><a href="classRVizInterface.html#aa28dae09fa5285f8570181ca119717d2">RVizInterface::RVizInterface</a></div><div class="ttdeci">RVizInterface(ros::NodeHandle nh)</div><div class="ttdoc">Constructor for RVizInterface Class. </div><div class="ttdef"><b>Definition:</b> rviz_interface.cpp:6</div></div>
<div class="ttc" id="classRVizInterface_html_a321493f33e811559ffec4ed4edb5effd"><div class="ttname"><a href="classRVizInterface.html#a321493f33e811559ffec4ed4edb5effd">RVizInterface::discreteBodyPlanCallback</a></div><div class="ttdeci">void discreteBodyPlanCallback(const global_body_planner::BodyPlan::ConstPtr &amp;msg)</div><div class="ttdoc">Callback function to handle new body plan discrete state data. </div><div class="ttdef"><b>Definition:</b> rviz_interface.cpp:49</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.13
</small></address>
</body>
</html>
